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Analysis of distributed fusion alternatives in coordinated vision agents

Analysis of distributed fusion alternatives in coordinated v...

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International conference on Information fusion

作者： Federico Castanedo Jesus Garcia Miguel A. Patricio Jose M. Molina Applied Artificial Intelligence Group Computer Science Department Universidad Carlos III de Madrid Spain

In this paper, we detail some technical alternatives when building a coherent distributed visual sensor network by using the multi-agent paradigm. We argue that the multi-agent paradigm fits well within the visual sensor network architecture and in this paper we specially focus on the problem of distributed data fusion. Three different data fusion coordination schemes are proposed and experimental results of passive fusion are presented and discussed. The main contributions of this paper are twofold, first we propose the use of multi-agent paradigm as the visual sensor architecture and present a real system results. Secondly, the use of feedback information in the visual sensors, called active fusion, is proposed. The experimental results prove that the multi-agent paradigm fits well within the visual sensor network and provide a novel mechanism to develop a real visual sensor network system.

关键词： Visualization Computer architecture Cameras distributed databases Surveillance Multiagent systems Target tracking

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Real-time common awareness in communication constrained sensor systems

Real-time common awareness in communication constrained sens...

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International conference on Information fusion

作者： Eelke van Foeken L. J. H. M. Kester M. van Iersel TNO Defence Safety and Security The Hague Netherlands

sensor systems need to be more adaptive to perform well in dynamically changing environments. Common awareness in sensor systems enables distributed agents to perform coordinated actions and reason about other agents. In addition, physical distribution of the agents in the network prevent a single point of failure and provides distributed sensing, but introduces the problem of communication constraints (e.g. bandwidth and latency), especially in complex sensors with large amounts of data. Therefore, the general aim is to develop evaluationmethods that enable each agent to determine the reward of information coming from its own sensors by balancing the value and the cost (determined by the communication constraints). The value of information is determined by the global need for information. These evaluationmethods are adaptive to changing, and possibly multiple and multi-dimensional requests and to changing communication constraints. In this paper the main focus lies on how to deal with latency.

关键词： Real time systems sensor systems Decision support systems Resource management Delay Intelligent sensors distributed processing Communication system security Information security Current measurement

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13th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

13th International Conference on Climbing and Walking Robots...

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13th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

ISBN: (纸本)9789814327978

The proceedings contain 168 papers. The special focus in this conference is on Climbing and Walking Robots and the Support Technologies for Mobile Machines. The topics include: Animals as models for robot mobility and autonomy: Crawling, walking, running, climbing and flying;cybercars: Robots on the road;controlling the slip in mobile robots;3D scene recovery and spatial scene analysis for unorganized point clouds;design and implementation efficient and reliable mechatronics module for autonomous mobile soccer robot;development a real-time cooperative behaviour for autonomous soccer robots besed on decision making algorithm;a practical approach to modeling, control and self-localization of a fully autonomous soccer robot besed on sensor and information fusion;force-based walking with impedance control for hydraulic driven hexapod robot;a differentially steered two-wheeled vehicle with an extended rod: An investigation on the impact of wheels trajectory;Behavior-based obstacle detection and avoidance system for the omnidirectional wall-climbing robot CROMSCI;the reaction forces in real-time control for modular walking robot legs;control of multi-mobile agent interconnected dynamic of motion;an innovative autonomous outdoor vehicle based on microsoft robotic studio;Robust fuzzy sliding mode controller of four rotors UAV;large obstacle clearance using kinematic reconfigurability for a rover with an active suspension;robotic hopping with a biomimetic Leg;development of an in-pipe mobile robot for use as an industrial endoscope based on an earthworm’s peristaltic crawling;a prototype climbing robot for inspection of complex ferrous structures;towards an adhesive gripping module for handling tasks and small-sized climbing robots;distributed robot systems.

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distributed fusion and communication management for target identification

Distributed fusion and communication management for target i...

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International conference on Information fusion

作者： C.-Y. Chong S. Mori BAE Systems Mountain View CA USA

The performance of target identification can be improved by fusing the data from multiple sensors. Even though distributed fusion has advantages of lower communication bandwidth, less processing at a central location, and increased robustness over centralized fusion, it has to address technical issues such as the conditional dependence of information to be fused by a fusion agent. This paper presents distributed fusion and communication management algorithms for target identification. Information graphs are used to select fusion architectures that minimize the effect of information double counting due to communication. Bayesian networks are used to model the target identification problem and identify the sufficient information that needs to be communicated between processing agents for optimal fusion. Communication strategies are developed to determine when a fusion agent should communicate with another fusion agent. Simulation examples demonstrate the performance of distributed fusion and communication management.

关键词： Bayesian methods Bandwidth sensor phenomena and characterization Target tracking Robustness sensor systems Identity management systems Military communication Geometry Information analysis

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A multi-agent architecture to support active fusion in a visual sensor network

A multi-agent architecture to support active fusion in a vis...

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ACM/IEEE International conference on distributed Smart Cameras, ICDSC

作者： Federico Castanedo Jesus Garcia Miguel A. Patricio Jose M. Molina Applied Artificial Intelligence Group Computer Science Department Universidad Carlos III de Madrid Spain

One of the main characteristics of a visual sensor network environment is the high amount of data generated. In addition, the application of some process, as for example tracking objects, generate a highly noisy output which may potentially produce an inconsistent system output. By inconsistent output we mean highly differences between tracking information provided by the visual sensors. A visual sensor network, with overlapped field of views, could exploit the redundancy between the field of view of each visual sensor to avoid inconsistencies and obtain more accurate results. In this paper, we present a visual sensor network system with overlapped field of views, modeled as a network of software agents. The communication of each software agent allows the use of feedback information in the visual sensors, called active fusion. Results of the software architecture to support active fusion scheme in an indoor scenario evaluation are presented.

关键词： Visualization Cameras Computer architecture Target tracking Multiagent systems Computational modeling Software agents

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16th International conference on distributed Computing and Artificial Intelligence, DCAI 2019

16th International Conference on Distributed Computing and A...

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16th International conference on distributed Computing and Artificial Intelligence, DCAI 2019

ISBN: (纸本)9783030238865

The proceedings contain 58 papers. The special focus in this conference is on distributed Computing and Artificial Intelligence. The topics include: A healthcare decision support system to overcome therapeutic centres challenges;an intelligent approach to design and development of personalized meta search: Recommendation of scientific articles;semantic links across distributed heterogeneous data;peculiarity classification of flat finishing motion based on tool trajectory by using self-organizing maps part 2: Improvement of clustering performance based on codebook vector density;an ontology-based deep learning approach for knowledge graph completion with fresh entities;exploitation of open data repositories for the creation of value-added services;feature extraction and classification of odor using attention based neural network;a conceptual group decision support system for current times: Dispersed group decision-making;density classification based on agents under majority rule: Connectivity influence on performance;korean license plate recognition system using combined neural networks;fault detection mechanism of a predictive maintenance system based on autoregressive integrated moving average models;object recognition: distributed architecture based on heterogeneous devices to integrate sensor information;a gift-exchange model for the maintenance of group cohesion in a telecommunications scenario;a sensitivity and performance analysis of word2vec applied to emotion state classification using a deep neural architecture;multi-view cooperative deep convolutional network for facial recognition with small samples learning;sampling rank correlated subgroups;multiple sources influence maximization in complex networks with genetic algorithm;detecting topics in documents by clustering word vectors;a forward-backward labeled multi-bernoulli smoother;kullback-leibler averaging for multitarget density fusion.

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Multi-sensor optimal information fusion Kalman filter with mobile agents in ring sensor networks

Multi-sensor optimal information fusion Kalman filter with m...

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Iranian conference on Electrical Engineering (ICEE)

作者： Behrouz Safarinejadian Kazem Hasanpoor Shiraz University of Technology Iran

ISBN: (纸本)9781467356329

In this paper, two mobile agent based distributed Kalman filter algorithms are proposed for optimal information fusion in sensor networks. In the proposed methods, mobile agents (MAs) play an important and fundamental role in information fusion. A mobile agent travels among the sensors and collects the necessary information. The collected information is carried to a fusion centre in which the optimal state estimates are computed. Finally, the proposed methods are applied on a radar tracking system with five sensors arranged in two rings with some faulty sensors. Performance of the proposed methods will be compared with the centralized Kalman filter.

关键词： Mobile agents Kalman filters Equations Mathematical model Covariance matrices Noise Symmetric matrices

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Weighted voting game based multi-robot team formation for distributed area coverage 10

Weighted voting game based multi-robot team formation for di...

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Proceedings of the 3rd International Symposium on Practical Cognitive agents and Robots

作者： Cheng, Ke Dasgupta, Prithviraj Computer Science Dept. University of Nebraska Omaha NE 68182 United States

ISBN: (纸本)9781450302500

In the multi-robot area coverage problem, a group of mobile robots have to cover an initially unknown environment using a sensor or coverage tool attached to each robot. Multi-robot area coverage is encountered in many applications of multirobot systems including unmanned search and rescue, aerial reconnaissance, robotic demining, automatic lawn mowing, and inspection of engineering structures. We envisage that multi-robot coverage can be performed efficiently if robots are coordinated to form small teams while covering the environment. In this paper, we use a technique from coalitional game theory called a weighted voting game that allows each robot to dynamically identify other team members and form teams so that the efficiency of the area coverage operation is improved. We propose and evaluate a novel technique of computing the weights of a weighted voting game based on each robot's coverage capability and finding the best minimal winning coalition(BMWC). We theoretically prove the feasibility of our model, and give algorithms to find the BMWC as well. We have also evaluated the performance of our algorithms within a robot simulation platform using up to 40 robots. Copyright © 2010 ACM.

关键词： Game theory

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2017 14th International conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

2017 14th International Conference on Ubiquitous Robots and ...

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14th International conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

ISBN: (纸本)9781509030552

The proceedings contain 252 papers. The topics discussed include: on distributed processing for underwater cooperative localization;on the use of general-purpose serial-link manipulators in eye surgery;fog degree measurement based on local contrast and color similarity;diachronic visualization simulation for disaster accident management using robotic system;endoscopic endonasal skull base surgery system;telesurgery system using surgical master device type of 3PUU;adaptive gain back-stepping sliding mode control for electrohydraulic servo system with uncertainties;light condition invariant visual SLAM via entropy based image fusion;a high voltage gan impulse generator for human detection UWB radar sensor;design and verification of a flexible device for steering a tethered capsule endoscope in the stomach;a study on the disaster response scenarios using robot technology;swimming in synthetic mucus;development of epiduroscopy training simulator using haptic master device;towards accurate kidnap resolution through deep learning;coupling virtual reality and motion platforms for snowboard training;development of a robot simulation system for remotely operated robots for operator proficiency training and robot performance verification;communication system of a segmented rescue robot utilizing socket programming and ROS;and feasibility of a photoacoustic image guided telerobotic system for skull base surgery.

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distributed hierarchical decision fusion with cluster validity

Distributed hierarchical decision fusion with cluster validi...

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IEEE International conference on Systems, Man and Cybernetics

作者： X.L. Xie G. Beni Center for Robotic Systems University of California Santa Barbara CA USA

The decision problem that arises in complex engineering problems where many separate sensors have to be used in parallel to measure a large set of objects, such as target detection/recognition, is addressed. A distributed hierarchical decision fusion method based on the validity of fuzzy clustering is proposed. Each sensor makes a local decision using a fuzzy clustering method and sends its decision about the number of clusters and the validity of the decision about the number of clusters and the validity of the decision, measured using a well-defined criterion, to the central station. The central station fuses the decisions collected from each sensor and makes a team decision optimizing all the local decisions. After clustering based on the optimal feature, the process is repeated until all object are properly classified. The result is a hierarchical decision tree that represents a description of a set of a priori unknown objects. This method has been applied to scenes where each object appears in a specified region.< >

关键词： Robot sensing systems sensor fusion Orbital robotics sensor systems Data mining Feature extraction Image sensors Image texture analysis Military computing Computational efficiency

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